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Spline Racer for Autonomous Racing Path Planning

Spline racer is a flavor of an autonomous racing path planner, invented and developed by Chris Chang, Nick Stathas, and MIT Driverless team members.

This repository contains a simplified, but well-engineered, implementation from scratch by Nick. Please refer to the accompanying project report for an overview of the concepts.

List of Limitations

  • vehicle is assumed to travel at unit speed in m/s
  • trajectories do not respect track boundaries
  • solver uses a random heuristic and does exhaustive search
  • solver considers fairly naive waypoints for each object
  • objects are considered sequentially in the search

How to Run

We use a ROS2 build environment. This project can easily be made to interface with ROS2 for visualization or for running on a real or simulated robot.

  1. Build Docker environment
docker build -t arpp .
  1. Open a terminal inside the environment with this repository mounted
docker run -it -v `pwd`:/opt/arpp arpp
  1. Go to /opt/arpp, the mounted directory, build the package, and configure ROS2
cd /opt/arpp
colcon build
source ./install/setup.bash
  1. Run the executable
ros2 run spline_racer main

Example output:

Track loaded and precomputed in 4.34146 seconds
Object with cost: -20 has corners on track indices 202 203 203 204
Object with cost: 30 has corners on track indices 205 208 212 215
Object with cost: -50 has corners on track indices 217 218 218 219
Default path has travel cost 38.9929
Default path has total cost 68.9929
New best path has total cost 49.2058 with decisions: (Object Cost: -20, Decision: Right)
New best path has total cost 49.1199 with decisions: (Object Cost: -20, Decision: Collide)
New best path has total cost 49.0775 with decisions: (Object Cost: -20, Decision: Left)
New best path has total cost 19.4591 with decisions: (Object Cost: -20, Decision: Left) (Object Cost: 30, Decision: Left)
New best path has total cost 3.51051 with decisions: (Object Cost: -20, Decision: Left) (Object Cost: 30, Decision: Left) (Object Cost: -50, Decision: Collide)
New best path has total cost 2.96748 with decisions: (Object Cost: -20, Decision: Left) (Object Cost: 30, Decision: Left) (Object Cost: -50, Decision: Right)